A variable-gauge train control apparatus for a variable-gauge train having a gauge variable in a gauge conversion section includes: a plurality of main motors that transmits driving force to axles and wheels; a plurality of inverters that outputs voltage to at least one of the main motors; and voltage control units that control the individual output voltages of the plurality of inverters. Each of the voltage control units corresponds to one of the inverters and, when at least one of the axles to be subjected to the driving force controlled by the corresponding one inverter is within the gauge conversion section, controls the speed of the associated main motors by using, as a speed command value, a train speed converted into a rotational frequency.

A control device of an electric vehicle includes: a target rotation speed calculation unit that calculates a target rotation speed of a drive wheel based on a vehicle body speed; and a slip control unit that detects a slip of the drive wheel when a wheel speed exceeds the target rotation speed of the drive wheel and that controls motor torque of the motor in such a manner that the wheel speed becomes an appropriate rotation speed in detection of the slip. Further, the slip control unit controls the motor torque by feedback control according to a difference between the rotation speed of the motor and the target rotation speed of the drive wheel in detection of the slip.

Method and apparatus for wheel speed estimation include an electrical powertrain having an electric motor providing a motor speed, a wheel, and a mechanical coupling between the motor and the wheel, and an electronic control unit calculating an estimated wheel speed based on the motor speed and mechanical dynamic models of the electrical powertrain.

The present disclosure relates to a method for controlling steering of a vehicle arrangement. The method is controlling steering of the vehicle arrangement during a turning maneuver, by applying a differential wheel speed by at least one of individually controllable electric machines and reducing the operational capacity of a power steering system, when a first power utilization value, obtained by operating the individually controllable electric machines with the differential wheel speed, is equal to, or greater than a second power utilization value, obtained by operating the power steering system during the turning maneuver.

To obtain a vehicle control device capable of creating a route that facilitates tracing by a vehicle in autonomous driving and improving positional accuracy of the vehicle at the time of tracing. A vehicle control device (520) of the present invention includes an oversteer angle determination unit (508) that determines whether or not a steering angle of a vehicle (10) is an oversteer angle, a stationary steering determination unit (509) that determines whether or not stationary steering operation is performed on a vehicle, a route storage mode detection unit (505) that determines whether or not a route storage mode is set, a specific operation detection unit (507) that determines whether a steering angle is the oversteer angle or the stationary steering operation is performed in the route storage mode, and an output unit that outputs a control command of steering angle restriction control that restricts steering operation of a driver in the route storage mode in a case where the specific operation detection unit determines that a steering angle is the oversteer angle or the stationary steering operation is performed.

An apparatus and a method for controlling pitch reduction may include a sensor device that measures a wheel speed and a longitudinal acceleration of a vehicle, a pitch rate estimation device that performs pseudo-integral of a difference between a wheel acceleration determined from the wheel speed and the longitudinal acceleration to determine an estimation value of a pitch rate, and a pitch motion reduction controller that generates a control command for implementing a motor torque in which the determined estimation value of the pitch rate is reflected and transmits the control command to an electric motor of the vehicle.

A method detects unintended acceleration of a motor vehicle during a closed-loop speed control mode by determining external forces on the vehicle via a controller, and then calculating a desired acceleration using a measured vehicle speed and the external forces. The method includes determining an actual acceleration of the vehicle, including filtering a speed signal as a first actual acceleration value and/or measuring a second actual acceleration value using an inertial measurement unit (IMU). During the speed control mode, the method includes calculating an acceleration delta value as a difference between the desired acceleration and the actual acceleration, and then using the acceleration delta value to detect the unintended acceleration during the speed control mode. A powertrain system for the motor vehicle, e.g., an electric vehicle, includes the controller and one or more torque generating devices coupled to road wheels of the vehicle.

Provided is an electric vehicle control method. The electric vehicle control method includes: a disturbance torque estimation process of calculating a disturbance torque estimation value including an influence of a road surface gradient; a speed parameter acquisition process of acquiring a speed parameter relating to a vehicle speed; a stop process of calculating a stopping basis torque target value so as to converge a torque command value to the disturbance torque estimation value in accordance with a decrease of a speed parameter; and a vibration damping process of calculating a stopping correction torque target value by performing filterring on the stopping basis torque target value. In the vibration damping process, the torque command value is set based on the stopping basis torque target value in a first just-before-stop period set in a relatively high vehicle speed range, and is set based on the stopping correction torque target value in a second just-before-stop period set in a relatively low vehicle speed range.

The electric vehicle according to the present disclosure is configured to be able to select a traveling mode between an MT mode in which an electric motor is controlled with torque characteristics like an MT vehicle having a manual transmission and an internal combustion engine, and an EV mode in which the electric motor is controlled with normal torque characteristics. When the selection of the travelling mode is changed by a driver, the controller of the electric vehicle determines whether a control mode can be switched, based on a condition in which the electric vehicle is placed, and switches the control mode in accordance with the determination result.

A powered balancing mobility device that can provide the user the ability to safely navigate expected environments of daily living including the ability to maneuver in confined spaces and to climb curbs, stairs, and other obstacles, and to travel safely and comfortably in vehicles. The mobility device can provide elevated, balanced travel.